CN109572438A - Electric car and its regenerating brake control method, device - Google Patents
Electric car and its regenerating brake control method, device Download PDFInfo
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- CN109572438A CN109572438A CN201710910619.XA CN201710910619A CN109572438A CN 109572438 A CN109572438 A CN 109572438A CN 201710910619 A CN201710910619 A CN 201710910619A CN 109572438 A CN109572438 A CN 109572438A
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- electric car
- feedback
- current
- driving motor
- brake pedal
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L7/00—Electrodynamic brake systems for vehicles in general
- B60L7/10—Dynamic electric regenerative braking
- B60L7/18—Controlling the braking effect
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
- B60L15/20—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed
- B60L15/2009—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed for braking
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2240/00—Control parameters of input or output; Target parameters
- B60L2240/40—Drive Train control parameters
- B60L2240/42—Drive Train control parameters related to electric machines
- B60L2240/423—Torque
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/72—Electric energy management in electromobility
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- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Electric Propulsion And Braking For Vehicles (AREA)
- Regulating Braking Force (AREA)
Abstract
The invention discloses a kind of electric car and its regenerating brake control methods, device, wherein regenerating brake control method includes: to judge whether electric car meets feedback control condition when unclamping gas pedal；If electric car meets feedback control condition, the current aperture of the brake pedal of electric car is obtained；Electric car, which is controlled, according to the current aperture of the brake pedal of electric car enters corresponding feedback control model；After electric car enters corresponding feedback control model, the maximum feedback power that the maximum feedback current and driving motor currently allowed according to the current shift of electric car, the revolving speed of driving motor, power battery currently allows carries out feedback control to electric car.The regenerating brake control method is able to ascend energy feedback ability, and when electric car being enabled to brake under identical brake pedal aperture, different gear, braking effect having the same improves the ride comfort of regenerative braking.
Description
Technical field
The present invention relates to automotive field, in particular to a kind of regenerating brake control method of electric car, a kind of electronic vapour
The regenerative brake control device of vehicle and a kind of electric car.
Background technique
When carrying out regenerative braking control to electric car, in the related technology, needed for being selected first from multiple intensity again
Raw severity of braking；Vehicle current vehicle speed is obtained by VCU (vehicle control unit, entire car controller) again, braking is stepped on
Plate aperture, object regeneration severity of braking determine recovery coefficient；Then it is determined according to power cell of vehicle remaining capacity, recovery coefficient
The practical recyclable power of power battery；VCU determines driving motor torque further according to practical recyclable power, controls to driving motor
Unit MCU sends torque request；MCU controls driving motor power generation according to the torque request of acquisition, to power battery charging.
However, do not accounted in above-mentioned technology whether can by the way that the existing mechanical structure of electric car is adjusted,
To increase the energy that regenerative braking is recycled.And there is electric car of multiple gears without clutch for speed changer, it is selecting again
Gear locating for electric car is not accounted for when raw braking torque.It is thereby possible to will cause under same operation, due to speed change
Device is in different gears and generates different braking effects so that driving experience be deteriorated, in some instances it may even be possible to can cause driver or
The fear of passenger.
Summary of the invention
The present invention is directed to solve one of the technical problem in above-mentioned technology at least to a certain extent.For this purpose, of the invention
One purpose is to propose a kind of regenerating brake control method of electric car, and this method is able to ascend energy feedback ability, and
When electric car being enabled to brake under identical brake pedal aperture, different gears, braking effect having the same is promoted
The ride comfort of regenerative braking.
Second object of the present invention is to propose a kind of non-transitorycomputer readable storage medium.
Third object of the present invention is to propose a kind of regenerative brake control device of electric car.
Fourth object of the present invention is to propose a kind of electric car.
In order to achieve the above objectives, first aspect present invention embodiment proposes a kind of regenerative braking controlling party of electric car
Method, the control method is the following steps are included: obtain the current aperture of the brake pedal of the electric car；According to the electronic vapour
The current aperture of the brake pedal of vehicle controls the electric car and enters corresponding feedback control model, wherein the feedback control
Molding formula includes sliding feedback control model and feedback braking control model；It is controlled in the electric car into corresponding feedback
After mode, the current shift of the electric car, the current rotating speed of the driving motor of the electric car, the electronic vapour are obtained
The maximum that the driving motor of maximum feedback current and the electric car that the power battery of vehicle currently allows currently allows is returned
Power is presented, and is currently allowed according to the current shift of the electric car, the revolving speed of the driving motor, the power battery
The maximum feedback power that maximum feedback current and the driving motor currently allow carries out feedback control to the electric car.
The regenerating brake control method of electric car according to an embodiment of the present invention first obtains the brake pedal of electric car
Current aperture, further according to electric car brake pedal current aperture control electric car enter corresponding feedback control mould
Formula, and after electric car enters corresponding feedback control model, according to the current shift of electric car, turn of driving motor
The maximum feedback power that the maximum feedback current and driving motor that speed, power battery currently allow currently allow is to electric car
Feedback control is carried out, thereby, it is possible to promote energy feedback ability, and electric car is enabled to open in identical brake pedal
When braking under degree, different gears, braking effect having the same improves the ride comfort of regenerative braking.
In addition, the regenerating brake control method of the electric car proposed according to that above embodiment of the present invention can also have as
Under additional technical characteristic:
According to one embodiment of present invention, the control method further include: when unclamping gas pedal, judge the electricity
Whether electrical automobile meets feedback control condition；If the electric car meets the feedback control condition, the electricity is obtained
The current aperture of the brake pedal of electrical automobile.
According to one embodiment of present invention, when the aperture of the gas pedal is less than or equal to working as the 0, electric car
Preceding gear be in D gear, the electric car power battery temperature and SOC value be in can regenerating condition and the electronic vapour
When the driving motor revolving speed of vehicle is greater than the first preset rotation speed, judge that the electric car meets the feedback control condition.
According to one embodiment of present invention, it if the current aperture of the brake pedal of the electric car is 0, controls
The electric car slides feedback control model described in entering；If the current aperture of the brake pedal of the electric car is greater than
0, then the electric car is controlled into the feedback braking control model.
According to one embodiment of present invention, after sliding feedback control model described in the electric car entrance, described
The maximum feedback electricity currently allowed according to the current shift of the electric car, the revolving speed of the driving motor, the power battery
It includes: according to institute that the maximum feedback power that stream and the driving motor currently allow, which carries out feedback control to the electric car,
The current shift selection for stating electric car slides feedback curve accordingly, and according to the current rotating speed of the driving motor from selected
Sliding for selecting obtains corresponding feedback torque T in feedback curveh1；The maximum feedback current currently allowed according to the power battery
The maximum feedback power currently allowed with the driving motor calculates the feedback torque limit T of the driving motorh2；Compare Th1、
Th2, and control the driving motor output Th1、Th2In smaller value to be applied to the wheel of the electric car.
According to one embodiment of present invention, after the electric car enters the feedback braking control model, described
The maximum feedback electricity currently allowed according to the current shift of the electric car, the revolving speed of the driving motor, the power battery
It includes: according to institute that the maximum feedback power that stream and the driving motor currently allow, which carries out feedback control to the electric car,
The current shift for stating electric car selects corresponding feedback braking curve, and according to the current rotating speed of the driving motor from selected
Corresponding feedback torque T is obtained in the feedback braking curve selectedz1；Corresponding system is selected according to the current shift of the electric car
Dynamic pedal opening-torque curve, and it is bent from selected brake pedal aperture-torque according to the current aperture of the brake pedal
Corresponding feedback torque T is obtained in linez2；The maximum feedback current currently allowed according to the power battery and the driving motor
The maximum feedback power currently allowed calculates the feedback torque limit T of the driving motorz3；Compare Tz1、Tz2、Tz3, and control institute
State driving motor output Tz1、Tz2、Tz3In minimum value to be applied to the wheel of the electric car.
According to one embodiment of present invention, when the electric car meets at least one following condition, described in control
Electric car exits feedback control model: the current rotating speed of the driving motor is less than or equal to first preset rotation speed；It is described
The anti-blocking brake system ABS of electric car is in running order；The aperture of the gas pedal is greater than 0；The electric car
Current shift be in non-D gear.
According to one embodiment of present invention, the brake pedal includes air-pressure brake pedal and hydraulic braking pedal,
In, when the brake pedal is air-pressure brake pedal, stretched by the mandril nut adjustment mandril on the brake pedal mandril
Enter the length in foot brake valves, to realize the adjusting to the mechanical idle stroke percentage of the brake pedal.
Further, the invention proposes a kind of non-transitorycomputer readable storage medium, it is stored thereon with computer
Program, the program are performed, and realize the regenerating brake control method of the electric car of above-described embodiment.
Computer storage medium according to an embodiment of the present invention, by execute store thereon with above-mentioned electric car again
The corresponding program of life brake control method, is able to ascend energy feedback ability, and enable to electric car in identical braking
When braking under pedal opening, different gears, braking effect having the same improves the ride comfort of regenerative braking.
In order to achieve the above objectives, third aspect present invention embodiment proposes a kind of regenerative braking control dress of electric car
It sets, comprising: first obtains module, the current aperture of the brake pedal for obtaining the electric car；First control module is used
Enter corresponding feedback control model in the current aperture control electric car of the brake pedal according to the electric car,
Wherein, the feedback control model includes sliding feedback control model and feedback braking control model；Second obtains module, is used for
After the electric car enters corresponding feedback control model, the current shift of the electric car, the electronic vapour are obtained
The current rotating speed of the driving motor of vehicle, the maximum feedback current that currently allows of power battery of the electric car and the electricity
The maximum feedback power that the driving motor of electrical automobile currently allows；Second control module, for working as according to the electric car
The maximum feedback current and the driving motor that preceding gear, the revolving speed of the driving motor, the power battery currently allow
The maximum feedback power currently allowed carries out feedback control to the electric car.
It is electronic to obtain module acquisition by first for the regenerative brake control device of electric car according to an embodiment of the present invention
The current aperture of the brake pedal of automobile, then by the first control module according to the current aperture control of the brake pedal of electric car
Electric car processed enters corresponding feedback control model, and after electric car enters corresponding feedback control model, by the
Two obtain modules obtain the current shifts of electric cars, the current rotating speed of the driving motor of electric car, electric car power
The maximum feedback power that the driving motor of maximum feedback current and electric car that battery currently allows currently allows, Jin Ertong
The second control module is crossed to be returned according to the maximum that the current shift of electric car, the revolving speed of driving motor, power battery currently allow
The maximum feedback power that supply current and driving motor currently allow carries out feedback control to electric car by the second control module
System.Thereby, it is possible to promote energy feedback ability, and enable to electric car in identical brake pedal aperture, different gears
When lower braking, braking effect having the same improves the ride comfort of regenerative braking.
In addition, the regenerative brake control device of the electric car proposed according to that above embodiment of the present invention can also have as
Under additional technical characteristic:
According to one embodiment of present invention, the control device further include: judgment module, for unclamping gas pedal
When, judge whether the electric car meets feedback control condition；Wherein, the first acquisition module is full in the electric car
When the foot feedback control condition, the current aperture of the brake pedal of the electric car is obtained.
According to one embodiment of present invention, the judgment module, is specifically used for: when the aperture of the gas pedal is less than
Equal to the 0, electric car current shift be in D gear, the electric car power battery temperature and SOC value be in can
When the driving motor revolving speed of regenerating condition and the electric car is greater than the first preset rotation speed, judge that the electric car meets
The feedback control condition.
According to one embodiment of present invention, first control module, is specifically used for: in the braking of the electric car
When the current aperture of pedal is 0, controls and slide feedback control model described in the electric car entrance；In the electric car
When the current aperture of brake pedal is greater than 0, the electric car is controlled into the feedback braking control model.
According to one embodiment of present invention, described after sliding feedback control model described in entering when the electric car
Second control module, is specifically used for: it is selected to slide feedback curve accordingly according to the current shift of the electric car, and according to
The current rotating speed of the driving motor obtains corresponding feedback torque T from selected slide in feedback curveh1；According to described dynamic
The maximum feedback power that the maximum feedback current and the driving motor that power battery currently allows currently allow calculates the driving
The feedback torque limit T of motorh2；Compare Th1、Th2, and control the driving motor output Th1、Th2In smaller value to apply
To the wheel of the electric car.
According to one embodiment of present invention, described after the electric car enters the feedback braking control model
Second control module, is specifically also used to: selecting corresponding feedback braking curve, and root according to the current shift of the electric car
Corresponding feedback torque T is obtained from selected feedback braking curve according to the current rotating speed of the driving motorz1；According to described
The current shift of electric car selects corresponding brake pedal aperture-torque curve, and currently opening according to the brake pedal
Degree obtains corresponding feedback torque T from selected brake pedal aperture-torque curvez2；It is current according to the power battery
The maximum feedback power that the maximum feedback current of permission and the driving motor currently allow calculates the feedback of the driving motor
Torque limit Tz3；Compare Tz1、Tz2、Tz3, and control the driving motor output Tz1、Tz2、Tz3In minimum value to be applied to
State the wheel of electric car.
According to one embodiment of present invention, first control module be also used to the electric car meet with down toward
When a few condition, control the electric car and exit feedback control model: the current rotating speed of the driving motor is less than or equal to
First preset rotation speed；The anti-blocking brake system ABS of the electric car is in running order；The gas pedal is opened
Degree is greater than 0；The current shift of the electric car is in non-D gear.
According to one embodiment of present invention, the brake pedal includes air-pressure brake pedal and hydraulic braking pedal,
In, when the brake pedal is air-pressure brake pedal, stretched by the mandril nut adjustment mandril on the brake pedal mandril
Enter the length in foot brake valves, to realize the adjusting to the mechanical idle stroke percentage of the brake pedal.
Further, the invention proposes a kind of electric cars comprising the regeneration system of the electric car of above-described embodiment
Dynamic control device.
The electric car of the embodiment of the present invention is able to ascend energy and is returned using the regenerating control device of above-mentioned electric car
Energy regenerative power, and when electric car being enabled to brake under different brake pedal apertures, braking effect having the same is promoted
The ride comfort of regenerative braking.
Detailed description of the invention
Fig. 1 is the flow chart according to the regenerating brake control method of the electric car of the embodiment of the present invention；
Fig. 2 is the structural schematic diagram according to the brake pedal of one embodiment of the invention；
Fig. 3 is aperture-brake application curve schematic diagram according to the brake pedal of the embodiment of the present invention；
Fig. 4 is the flow chart according to the regenerating brake control method of the electric car of a specific embodiment of the invention；
Fig. 5 is the schematic diagram for sliding feedback curve according to one embodiment of the invention；
Fig. 6 (a) is the schematic diagram according to the feedback braking curve of one embodiment of the invention；
Fig. 6 (b) is to be shown according to driving motor revolving speed-torque curve in the control of the feedback braking of one embodiment of the invention
It is intended to；
Fig. 7 is the block diagram according to the regenerative brake control device of the electric car of the embodiment of the present invention；
Fig. 8 is the block diagram according to the electric car of the embodiment of the present invention.
Specific embodiment
The embodiment of the present invention is described below in detail, examples of the embodiments are shown in the accompanying drawings, wherein from beginning to end
Same or similar label indicates same or similar element or element with the same or similar functions.Below with reference to attached
The embodiment of figure description is exemplary, it is intended to is used to explain the present invention, and is not considered as limiting the invention.
The electric car and its regenerating brake control method, device of the embodiment of the present invention described with reference to the accompanying drawing.
Fig. 1 is the flow chart according to the regenerating brake control method of the electric car of the embodiment of the present invention.As shown in Figure 1,
The regenerating brake control method of the electric car the following steps are included:
S101 obtains the current aperture of the brake pedal of electric car.
Specifically, jaw opening sensor can be set on brake pedal, it, can when electric car meets feedback control condition
The current aperture of the brake pedal of electric car is obtained by jaw opening sensor.
S102 controls electric car according to the current aperture of the brake pedal of electric car and enters corresponding feedback control mould
Formula.
In this embodiment, feedback control model includes sliding feedback control model and feedback braking control model.Specifically
Ground controls electric car entrance and slides feedback control model if the current aperture of the brake pedal of electric car is 0.Such as
The current aperture of the brake pedal of fruit electric car is greater than 0, then controls electric car and enter feedback braking control model.
S103 obtains the current shift of electric car, electronic vapour after electric car enters corresponding feedback control model
Maximum feedback current that the current rotating speed of the driving motor of vehicle, the power battery of electric car currently allow and electric car
The maximum feedback power that driving motor currently allows, and according to the current shift of electric car, the revolving speed of driving motor, power electric
The maximum feedback power that the maximum feedback current and driving motor that pond currently allows currently allow carries out feedback to electric car
Control.
It should be noted that in this embodiment, the speed changer of electric car has multiple gears, such as there is a gear, two
Gear, 4 three gears, fourth gear gears.
The regenerating brake control method of the electric car, when unclamping gas pedal, if electric car meets feedback control
Condition processed then controls electric car according to the current aperture of the brake pedal of electric car and enters corresponding feedback control model,
And after electric car enters corresponding feedback control model, according to the current shift of electric car, the revolving speed, dynamic of driving motor
The maximum feedback power that the maximum feedback current and driving motor that power battery currently allows currently allow carries out electric car
Feedback control, thereby, it is possible to promote energy feedback ability, and enables to electric car in identical brake pedal aperture, no
When with braking under gear, braking effect having the same improves the ride comfort of regenerative braking.
In some embodiments of the invention, before obtaining the current aperture of brake pedal of electric car, also judge
Whether electric car meets feedback control condition.
Specifically, when unclamping gas pedal, judge whether electric car meets feedback control condition, if electric car
Meet feedback control condition, then obtains the current aperture of the brake pedal of electric car.
Wherein, gas pedal is efp, an angular transducer can be arranged in gas pedal to detect oil
The aperture of door pedal, and then can determine whether gas pedal is released according to the angle value of detection.
In one embodiment of the invention, when the aperture of gas pedal is less than or equal at the current shift of 0, electric car
In D gear, the temperature of the power battery of electric car and SOC value be in can regenerating condition and electric car driving motor revolving speed
When greater than the first preset rotation speed, judge that electric car meets feedback control condition.
Wherein, D gear is driving gear, may include multiple driving gears, if D gear includes a gear, second gear, three gears, four
Keep off 4 gears.First preset rotation speed can be carried out pre- by actual speed of the driving motor for electric automobile in different gears
First it is arranged.
Specifically, temperature sensor and Hall current monitoring device can be set on the power battery of electric car, with
The temperature and SOC value of the power battery of electric car are detected respectively.Revolving speed biography can be set on the driving motor of electric car
Sensor, to detect the driving motor revolving speed of electric car.It is appreciated that the current shift of electric car can pass through TCU
(Transmission Control Unit, automatic gear-box control unit) obtains.
In one embodiment of the invention, after electric car, which enters, slides feedback control model, according to electric car
Current shift selection slide feedback curve accordingly, and feedback song is slided from selected according to the current rotating speed of driving motor
Corresponding feedback torque T is obtained in lineh1Currently permit with the maximum feedback current and driving motor currently allowed according to power battery
Perhaps maximum feedback power calculates the feedback torque limit T of driving motorh2, and then compare Th1、Th2, and it is defeated to control driving motor
T outh1、Th2In smaller value to be applied to the wheel of electric car.
In another embodiment of the present invention, after electric car enters feedback braking control model, according to electronic vapour
The current shift of vehicle selects corresponding feedback braking curve, and according to the current rotating speed of driving motor from selected feedback braking
Corresponding feedback torque T is obtained in curvez1Corresponding brake pedal aperture-torque is selected with according to the current shift of electric car
Curve, and corresponding feedback is obtained from selected brake pedal aperture-torque curve according to the current aperture of brake pedal
Torque Tz2, and the maximum feedback power meter that the maximum feedback current and driving motor currently allowed according to power battery currently allows
Calculate the feedback torque limit T of driving motorz3, and then compare Tz1、Tz2、Tz3, and control driving motor output Tz1、Tz2、Tz3In
Minimum value is to be applied to the wheel of electric car.
In this embodiment, brake pedal can be air-pressure brake pedal or hydraulic braking pedal.Wherein, work as brake pedal
When for air-pressure brake pedal, as shown in Fig. 2, brake pedal can be passed through before the brake pedal of electric car is assembled on vehicle
Mandril nut 4 on mandril 3 adjusts mandril 3 and protrudes into the length in foot brake valves 2, opens to adjust mandril when stepping on brake pedal
The angle that master arm is rotated when foot brake valves 1, to realize the adjusting to the mechanical idle stroke percentage of brake pedal.As a result,
Do not changing complete vehicle structure, while not reducing brake feel, by rationally adjusting brake pedal machinery idle stroke percentage,
It is superimposed regenerative braking during mechanical idle stroke, increases the energy that regenerative braking is recycled.I.e. when driver's brake pedal,
Preferentially make vehicle deceleration using motor braking power, recycles braking energy to greatest extent in the case where not changing complete vehicle structure.
When driver feels electric braking deficiency, it is possible to increase brake pedal aperture is added mechanical braking, electric car is made to reach preset
Deceleration.
Further, as shown in figure 3, motor braking power can be divided into three with the control process that the aperture of brake pedal increases
A stage: the first stage, brake pedal aperture is smaller, and mechanical braking force not yet generates, and there was only motor system in this section of pedal travel
Power works；Second stage, during brake pedal aperture slowly increases, mechanical braking force is slowly increased, motor braking
It is superimposed and concurs with mechanical braking force；Phase III, brake pedal aperture continue growing, and vehicle carries out big brake pedal and opens
The lower emergency braking of degree, vehicle deceleration is larger at this time, the considerations of in terms of safety, braked with mechanical friction based on, it is electric
Brake force proportion reduces.
In an embodiment of the present invention, when electric car meets following either condition, controllable electric car is exited back
Present control model:
(1) current rotating speed of driving motor is less than or equal to the first preset rotation speed；
(2) the anti-blocking brake system ABS of electric car is in running order；
(3) aperture of gas pedal is greater than 0；
(4) current shift of electric car is in non-D gear.
Wherein, non-D gear may include P gear, N gear, R gear etc., can be specifically arranged according to the gear of electric car and be demarcated.
It in this embodiment, can be real by the VCU (Vehicle Control Unit, control unit for vehicle) of electric car
The regenerating brake control method of the electric car of the existing embodiment of the present invention.Below with reference to Fig. 4 to the electronic vapour of the embodiment of the present invention
The regenerating brake control method of vehicle is described:
Referring to Fig. 4, during electric automobile during traveling, when driver unclamps gas pedal, VCU is sentenced by input signal
Whether power-off electrical automobile meets feedback control condition, i.e. whether electric car meets simultaneously: front is worked as in gas pedal aperture≤0
Position in D gear, the temperature of power battery and SOC value be in can the revolving speed of regenerating condition and driving motor be greater than the first preset rotation speed
nmin.If electric car meets above-mentioned feedback control condition, obtains the braking that brake pedal jaw opening sensor detects and step on
The current aperture of plate.
When the current aperture of brake pedal=0, control electric car, which enters, slides feedback control model.VCU is according to TCU
The current shift selection of the electric car of transmission slides feedback curve accordingly, for example, referring to Fig. 5, when current shift is second gear,
Second gear is corresponding slides feedback curve for selection.Wherein, sliding feedback curve indicates the revolving speed of driving motor pass corresponding with torque
System.At this point, from sliding for selection corresponding feedback torque T can be obtained in feedback curve according to the current rotating speed of driving motorh1；Together
When, the maximum feedback power that maximum feedback current that VCU currently allows according to power battery, driving motor currently allow, which calculates, to be driven
The feedback torque limit T of dynamic motorh2.And then compare Th1、Th2, and by Th1、Th2In smaller value as currently stepping on brake pedal
Feedback braking torque value.
As the current aperture > 0 of brake pedal, control electric car enters feedback braking control model.VCU is according to TCU
The current shift of the electric car of transmission selects corresponding feedback braking curve and brake pedal aperture-torque curve, for example, ginseng
According to Fig. 6 (a), Fig. 6 (b), when current shift is second gear, the corresponding feedback braking curve of second gear and brake pedal aperture-torsion are selected
Square curve.Wherein, feedback braking curve indicates the revolving speed of driving motor and the corresponding relationship of torque.At this point, can be according to driving electricity
The current rotating speed of machine obtains corresponding feedback torque T from the feedback braking curve of selectionz1, and can be according to the current of brake pedal
Aperture obtains corresponding feedback torque T from selected brake pedal aperture-torque curvez2；Meanwhile VCU is according to power electric
The maximum feedback power that maximum feedback current that pond currently allows, driving motor currently allow calculates the feedback torque of driving motor
Limit value Tz3.And then compare Tz1、Tz2、Tz3, and by Tz1、Tz2、Tz3In minimum value as the feedback braking for currently stepping on brake pedal
Torque value.
Accordingly, for speed changer with multiple gears and without the electric car of clutch, when driver's brake pedal system
In dynamic process, electric car braking effect having the same under the identical brake pedal aperture of different gears improves regeneration system
Dynamic driving experience.Simultaneously as electric car is when feedback is shifted gears, by reducing motor system in advance before downshift without clutch
Dynamic torque, and torque gradient when regenerative braking torque is intervened, exited is controlled, it reduces because of shift bring impact, improves
Regenerative braking ride comfort.
It should be noted that also being exited in real time according to whether input-signal judging meets in above-mentioned feedback control process
Whether the condition of feedback control, i.e., at least meet one in following condition: driving motor revolving speed≤nmin, ABS be in work shape
State, the aperture > 0 of gas pedal, current shift are in non-D gear.
To sum up, on the one hand the regenerating brake control method of electric car according to an embodiment of the present invention can not change
In the case where electric car existing machinery brake system structure, by adjusting air-pressure brake pedal mandril position, reach adjusting system
The effect of dynamic pedal machines idle stroke percentage increases again so as to be superimposed regenerative braking during brake pedal machinery idle stroke
It is raw to brake recycled energy, and when there is mechanical braking force intervention, song is superimposed with mechanical braking force by controlling regenerative braking
Line improves brake comfort.On the other hand there is the electric car of multiple gears for power assembly, by distinguishing various gears
Using different feedbacks control, can make electric car different gears when driving, it is having the same under identical brake pedal aperture
Feedback effect.
Based on the above embodiment, it the invention proposes a kind of non-transitorycomputer readable storage medium, is stored thereon with
Program, the program are performed, and realize the regenerating brake control method of the electric car of above-described embodiment.
Computer storage medium according to an embodiment of the present invention, by execute store thereon with above-mentioned electric car again
The corresponding program of life brake control method, is able to ascend energy feedback ability, and enable to electric car in different brakings
When braking under pedal opening, braking effect having the same improves the ride comfort of regenerative braking.
Fig. 7 is the block diagram according to the regenerative brake control device of the embodiment of the present invention.As shown in fig. 7, the electric car
Regenerative brake control device 100 include: the first acquisition module 20, the first control module 30, second obtain module 40 and second
Control module 50.
Wherein, the first acquisition module 20 is used to obtain the current aperture of the brake pedal of electric car；First control module
30 are used to enter corresponding feedback control model according to the current aperture control electric car of the brake pedal of electric car,
In, feedback control model includes sliding feedback control model and feedback braking control model；Second, which obtains module 40, is used in electricity
After electrical automobile enters corresponding feedback control model, the current shift of electric car is obtained, the driving motor of electric car is worked as
Preceding revolving speed, the driving motor of maximum feedback current and electric car that the power battery of electric car currently allows currently allow
Maximum feedback power；Second control module 50 is used for according to the current shift of electric car, the revolving speed of driving motor, power electric
The maximum feedback power that the maximum feedback current and driving motor that pond currently allows currently allow carries out feedback to electric car
Control.
In some embodiments of the invention, referring to Fig. 7, control device 100 further includes judgment module 10, judgment module 10
For judging whether electric car meets feedback control condition when unclamping gas pedal.Wherein, first module 20 is obtained in electricity
When electrical automobile meets feedback control condition, the current aperture of the brake pedal of electric car is obtained.
In one embodiment of the invention, when the aperture of gas pedal is less than or equal at the current shift of 0, electric car
In D gear, the temperature of the power battery of electric car and SOC value be in can regenerating condition and electric car driving motor revolving speed
When greater than the first preset rotation speed, judgment module 10 judges that electric car meets feedback control condition.
Further, first module 20 is obtained when electric car meets feedback control condition, obtain the system of electric car
The current aperture of dynamic pedal.First control module 30 controls electronic vapour when the current aperture of the brake pedal of electric car is 0
Vehicle, which enters, slides feedback control model, alternatively, controlling electronic vapour when the current aperture of the brake pedal of electric car is greater than 0
Vehicle enters feedback braking control model.
Further, after electric car, which enters, slides feedback control model, the second control module 50 is according to electronic vapour
The current shift selection of vehicle slides feedback curve accordingly, and slides feedback from selected according to the current rotating speed of driving motor
Corresponding feedback torque T is obtained in curveh1It is current with the maximum feedback current and driving motor that are currently allowed according to power battery
The maximum feedback power of permission calculates the feedback torque limit T of driving motorh2, and then compare Th1、Th2, and control driving motor
Export Th1、Th2In smaller value to be applied to the wheel of electric car.
After electric car enters feedback braking control model, the second control module 50 is according to the current shift of electric car
Corresponding feedback braking curve is selected, and phase is obtained from selected feedback braking curve according to the current rotating speed of driving motor
The feedback torque T answeredz1Corresponding brake pedal aperture-torque curve is selected with according to the current shift of electric car, and according to
The current aperture of brake pedal obtains corresponding feedback torque T from selected brake pedal aperture-torque curvez2And root
The maximum feedback power that the maximum feedback current and driving motor currently allowed according to power battery currently allows calculates driving motor
Feedback torque limit Tz3, and then compare Tz1、Tz2、Tz3, and control driving motor output Tz1、Tz2、Tz3In minimum value to apply
It is added to the wheel of electric car.
In this embodiment, brake pedal includes air-pressure brake pedal and hydraulic braking pedal, wherein when brake pedal is
When air-pressure brake pedal, as shown in Fig. 2, brake pedal top can be passed through before the brake pedal of electric car is assembled on vehicle
Mandril nut 4 on bar 3 adjusts mandril 3 and protrudes into the length in foot brake valves 2, so that adjusting mandril when stepping on brake pedal opens foot
The angle that master arm is rotated when brake valve 1 realizes the adjusting to the mechanical idle stroke percentage of brake pedal.As a result, not
Change complete vehicle structure, while not reducing brake feel, by rationally adjusting brake pedal machinery idle stroke percentage, in machinery
It is superimposed regenerative braking during idle stroke, increases the energy that regenerative braking is recycled.I.e. when driver's brake pedal, preferentially
Make vehicle deceleration using motor braking power, recycles braking energy to greatest extent in the case where not changing complete vehicle structure.When driving
When the person of sailing feels electric braking deficiency, it is possible to increase brake pedal aperture is added mechanical braking, electric car is made to reach preset deceleration
Degree.
In some embodiments of the invention, the first control module 30 is also used to meet following either condition in electric car
When, control electric car exits feedback control model:
(1) current rotating speed of driving motor is less than or equal to the first preset rotation speed；
(2) the anti-blocking brake system ABS of electric car is in running order；
(3) aperture of gas pedal is greater than 0；
(4) current shift of electric car is in non-D gear.
It should be noted that the specific embodiment of the regenerative brake control device of the electric car of the embodiment of the present invention can
Referring to the specific embodiment of the regenerating brake control method of the electric car of the embodiment of the present invention, to reduce redundancy, herein not
It repeats.
To sum up, the regenerative brake control device of electric car according to an embodiment of the present invention, when unclamping gas pedal, such as
Fruit electric car meets feedback control condition, then currently opening for the brake pedal of electric car is obtained by the first acquisition module
Degree, then electric car is controlled according to the current aperture of the brake pedal of electric car by the first control module and enters corresponding return
Control model is presented, and after electric car enters corresponding feedback control model, by the second control module according to electric car
Current shift, the maximum feedback current that currently allows of revolving speed, power battery of driving motor and driving motor currently allow
Maximum feedback power to electric car carry out feedback control.Thereby, it is possible to promote energy feedback ability, and enable to electronic
When automobile is braked under identical brake pedal aperture, different gears, braking effect having the same improves regenerative braking
Ride comfort.
Fig. 8 is the block diagram of automobile according to an embodiment of the present invention.As shown in figure 8, the electric car 1000 includes above-mentioned
The regenerative brake control device 100 of the electric car of embodiment.
The automobile of the embodiment of the present invention is able to ascend energy and is returned using the regenerative brake control device of above-mentioned electric car
Energy regenerative power, and when electric car being enabled to brake under identical brake pedal aperture, different gear, braking having the same
Effect improves the ride comfort of regenerative braking.
In addition, the electric car of the above embodiment of the present invention other constitute and its act on to those skilled in the art and
Speech be it is known, for reduce redundancy, be not repeated herein.
In the description of this specification, reference term " one embodiment ", " some embodiments ", " example ", " specifically show
The description of example " or " some examples " etc. means specific features, structure, material or spy described in conjunction with this embodiment or example
Point is included at least one embodiment or example of the invention.In the present specification, schematic expression of the above terms are not
It must be directed to identical embodiment or example.Moreover, particular features, structures, materials, or characteristics described can be in office
It can be combined in any suitable manner in one or more embodiment or examples.In addition, without conflicting with each other, the skill of this field
Art personnel can tie the feature of different embodiments or examples described in this specification and different embodiments or examples
It closes and combines.
In addition, term " first ", " second " are used for descriptive purposes only and cannot be understood as indicating or suggesting relative importance
Or implicitly indicate the quantity of indicated technical characteristic.Define " first " as a result, the feature of " second " can be expressed or
Implicitly include at least one this feature.In the description of the present invention, the meaning of " plurality " is at least two, such as two, three
It is a etc., unless otherwise specifically defined.
Any process described otherwise above or method description are construed as in flow chart or herein, and expression includes
It is one or more for realizing custom logic function or process the step of executable instruction code module, segment or portion
Point, and the range of the preferred embodiment of the present invention includes other realization, wherein can not press shown or discussed suitable
Sequence, including according to related function by it is basic simultaneously in the way of or in the opposite order, Lai Zhihang function, this should be of the invention
Embodiment person of ordinary skill in the field understood.
Expression or logic and/or step described otherwise above herein in flow charts, for example, being considered use
In the order list for the executable instruction for realizing logic function, may be embodied in any computer-readable medium, for
Instruction execution system, device or equipment (such as computer based system, including the system of processor or other can be held from instruction
The instruction fetch of row system, device or equipment and the system executed instruction) it uses, or combine these instruction execution systems, device or set
It is standby and use.For the purpose of this specification, " computer-readable medium ", which can be, any may include, stores, communicates, propagates or pass
Defeated program is for instruction execution system, device or equipment or the dress used in conjunction with these instruction execution systems, device or equipment
It sets.The more specific example (non-exhaustive list) of computer-readable medium include the following: there is the electricity of one or more wirings
Interconnecting piece (electronic device), portable computer diskette box (magnetic device), random access memory (RAM), read-only memory
(ROM), erasable edit read-only storage (EPROM or flash memory), fiber device and portable optic disk is read-only deposits
Reservoir (CDROM).In addition, computer-readable medium can even is that the paper that can print described program on it or other are suitable
Medium, because can then be edited, be interpreted or when necessary with it for example by carrying out optical scanner to paper or other media
His suitable method is handled electronically to obtain described program, is then stored in computer storage.
It should be appreciated that each section of the invention can be realized with hardware, software, firmware or their combination.Above-mentioned
In embodiment, software that multiple steps or method can be executed in memory and by suitable instruction execution system with storage
Or firmware is realized.Such as, if realized with hardware in another embodiment, following skill well known in the art can be used
Any one of art or their combination are realized: have for data-signal is realized the logic gates of logic function from
Logic circuit is dissipated, the specific integrated circuit with suitable combinational logic gate circuit, programmable gate array (PGA), scene can compile
Journey gate array (FPGA) etc..
Those skilled in the art are understood that realize all or part of step that above-described embodiment method carries
It suddenly is that relevant hardware can be instructed to complete by program, the program can store in a kind of computer-readable storage medium
In matter, which when being executed, includes the steps that one or a combination set of embodiment of the method.
It, can also be in addition, each functional unit in each embodiment of the present invention can integrate in a processing module
It is that each unit physically exists alone, can also be integrated in two or more units in a module.Above-mentioned integrated mould
Block both can take the form of hardware realization, can also be realized in the form of software function module.The integrated module is such as
Fruit is realized and when sold or used as an independent product in the form of software function module, also can store in a computer
In read/write memory medium.
Storage medium mentioned above can be read-only memory, disk or CD etc..Although having been shown and retouching above
The embodiment of the present invention is stated, it is to be understood that above-described embodiment is exemplary, and should not be understood as to limit of the invention
System, those skilled in the art can be changed above-described embodiment, modify, replace and become within the scope of the invention
Type.
In the description of the present invention, it is to be understood that, term " center ", " longitudinal direction ", " transverse direction ", " length ", " width ",
" thickness ", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outside", " up time
The orientation or positional relationship of the instructions such as needle ", " counterclockwise ", " axial direction ", " radial direction ", " circumferential direction " be orientation based on the figure or
Positional relationship is merely for convenience of description of the present invention and simplification of the description, rather than the device or element of indication or suggestion meaning must
There must be specific orientation, be constructed and operated in a specific orientation, therefore be not considered as limiting the invention.
In the present invention unless specifically defined or limited otherwise, term " installation ", " connected ", " connection ", " fixation " etc.
Term shall be understood in a broad sense, for example, it may be being fixedly connected, may be a detachable connection, or integral；It can be mechanical connect
It connects, is also possible to be electrically connected；It can be directly connected, can also can be in two elements indirectly connected through an intermediary
The interaction relationship of the connection in portion or two elements.It for the ordinary skill in the art, can be according to specific feelings
Condition understands the concrete meaning of above-mentioned term in the present invention.
In the present invention unless specifically defined or limited otherwise, fisrt feature in the second feature " on " or " down " can be with
It is that the first and second features directly contact or the first and second features pass through intermediary mediate contact.Moreover, fisrt feature exists
Second feature " on ", " top " and " above " but fisrt feature be directly above or diagonally above the second feature, or be merely representative of
First feature horizontal height is higher than second feature.Fisrt feature can be under the second feature " below ", " below " and " below "
One feature is directly under or diagonally below the second feature, or is merely representative of first feature horizontal height less than second feature.
Although the embodiments of the present invention has been shown and described above, it is to be understood that above-described embodiment is example
Property, it is not considered as limiting the invention, those skilled in the art within the scope of the invention can be to above-mentioned
Embodiment is changed, modifies, replacement and variant.
Claims (18)
1. a kind of regenerating brake control method of electric car, which comprises the following steps:
Obtain the current aperture of the brake pedal of the electric car；
The electric car, which is controlled, according to the current aperture of the brake pedal of the electric car enters corresponding feedback control mould
Formula, wherein the feedback control model includes sliding feedback control model and feedback braking control model；
After the electric car enters corresponding feedback control model, the current shift of the electric car, the electricity are obtained
The current rotating speed of the driving motor of electrical automobile, the maximum feedback current that currently allows of power battery of the electric car and institute
State the maximum feedback power that the driving motor of electric car currently allows, and according to the current shift of the electric car, described
The maximum feedback current and the driving motor that the revolving speed of driving motor, the power battery currently allow currently allow most
Big feedback power carries out feedback control to the electric car.
2. the regenerating brake control method of electric car as described in claim 1, which is characterized in that further include:
When unclamping gas pedal, judge whether the electric car meets feedback control condition；
If the electric car meets the feedback control condition, currently opening for the brake pedal of the electric car is obtained
Degree.
3. the regenerating brake control method of electric car as claimed in claim 2, which is characterized in that when the gas pedal
Aperture be less than or equal to the 0, current shift of the electric car be in D keep off, the temperature and SOC of the power battery of the electric car
Value in can the driving motor revolving speed of regenerating condition and the electric car be greater than the first preset rotation speed when, judge described electronic
Automobile meets the feedback control condition.
4. the regenerating brake control method of electric car as claimed in claim 3, which is characterized in that
If the current aperture of the brake pedal of the electric car is 0, controls and slided back described in the electric car entrance
Present control model；
If the current aperture of the brake pedal of the electric car is greater than 0, the electric car is controlled into the braking
Feedback control model.
5. the regenerating brake control method of electric car as claimed in claim 4, which is characterized in that the electric car enters
It is described slide feedback control model after, the revolving speed, described of the current shift according to the electric car, the driving motor
The maximum feedback power that the maximum feedback current and the driving motor that power battery currently allows currently allow is to the electricity
Electrical automobile carries out feedback control
Feedback curve is slided accordingly according to the selection of the current shift of the electric car, and according to the current of the driving motor
Revolving speed obtains corresponding feedback torque T from selected slide in feedback curveh1；
The maximum feedback function that the maximum feedback current and the driving motor currently allowed according to the power battery currently allows
Rate calculates the feedback torque limit T of the driving motorh2；
Compare Th1、Th2, and control the driving motor output Th1、Th2In smaller value to be applied to the vehicle of the electric car
Wheel.
6. the regenerating brake control method of electric car as claimed in claim 4, which is characterized in that the electric car enters
After the feedback braking control model, the revolving speed, described of the current shift according to the electric car, the driving motor
The maximum feedback power that the maximum feedback current and the driving motor that power battery currently allows currently allow is to the electricity
Electrical automobile carries out feedback control
Corresponding feedback braking curve is selected according to the current shift of the electric car, and according to the current of the driving motor
Revolving speed obtains corresponding feedback torque T from selected feedback braking curvez1；
Corresponding brake pedal aperture-torque curve is selected according to the current shift of the electric car, and according to the braking
The current aperture of pedal obtains corresponding feedback torque T from selected brake pedal aperture-torque curvez2；
The maximum feedback function that the maximum feedback current and the driving motor currently allowed according to the power battery currently allows
Rate calculates the feedback torque limit T of the driving motorz3；
Compare Tz1、Tz2、Tz3, and control the driving motor output Tz1、Tz2、Tz3In minimum value to be applied to the electronic vapour
The wheel of vehicle.
7. the regenerating brake control method of electric car as claimed in claim 2, which is characterized in that when the electric car is full
When being enough at least one lower condition, controls the electric car and exits feedback control model:
The current rotating speed of the driving motor is less than or equal to first preset rotation speed；
The anti-blocking brake system ABS of the electric car is in running order；
The aperture of the gas pedal is greater than 0；
The current shift of the electric car is in non-D gear.
8. the regenerating brake control method of electric car as described in claim 1, which is characterized in that the brake pedal includes
Air-pressure brake pedal and hydraulic braking pedal, wherein
When the brake pedal is air-pressure brake pedal, stretched by the mandril nut adjustment mandril on the brake pedal mandril
Enter the length in foot brake valves, to realize the adjusting to the mechanical idle stroke percentage of the brake pedal.
9. a kind of non-transitorycomputer readable storage medium, is stored thereon with computer program, which is characterized in that the program quilt
The regenerating brake control method such as electric car of any of claims 1-8 is realized when processor executes.
10. a kind of regenerative brake control device of electric car characterized by comprising
First obtains module, the current aperture of the brake pedal for obtaining the electric car；
First control module, the current aperture for the brake pedal according to the electric car control the electric car entrance
Corresponding feedback control model, wherein the feedback control model includes sliding feedback control model and feedback braking control mould
Formula；
Second obtains module, for obtaining the electric car after the electric car enters corresponding feedback control model
Current shift, the current rotating speed of driving motor of the electric car, the power battery of the electric car currently allow
The maximum feedback power that the driving motor of maximum feedback current and the electric car currently allows；
Second control module, for according to the current shift of the electric car, the revolving speed of the driving motor, the power electric
The maximum feedback power that the maximum feedback current and the driving motor that pond currently allows currently allow is to the electric car
Carry out feedback control.
11. the regenerative brake control device of electric car as claimed in claim 10, which is characterized in that further include:
Judgment module, for judging whether the electric car meets feedback control condition when unclamping gas pedal；
Wherein, described first module is obtained when the electric car meets the feedback control condition, obtain the electronic vapour
The current aperture of the brake pedal of vehicle.
12. the regenerative brake control device of electric car as claimed in claim 11, which is characterized in that the judgment module,
It is specifically used for:
When the current shift that the aperture of the gas pedal is less than or equal to the 0, electric car is in D gear, the electric car
Power battery temperature and SOC value be in can the driving motor revolving speed of regenerating condition and the electric car to be greater than first pre-
If when revolving speed, judging that the electric car meets the feedback control condition.
13. the regenerative brake control device of electric car as claimed in claim 10, which is characterized in that the first control mould
Block is specifically used for:
When the current aperture of the brake pedal of the electric car is 0, controls and slide feedback described in the electric car entrance
Control model；
When the current aperture of the brake pedal of the electric car is greater than 0, controls the electric car and enter described brake back
Present control model.
14. the regenerative brake control device of electric car as claimed in claim 13, which is characterized in that when the electric car
Into it is described slide feedback control model after, second control module is specifically used for:
Feedback curve is slided accordingly according to the selection of the current shift of the electric car, and according to the current of the driving motor
Revolving speed obtains corresponding feedback torque T from selected slide in feedback curveh1；
The maximum feedback function that the maximum feedback current and the driving motor currently allowed according to the power battery currently allows
Rate calculates the feedback torque limit T of the driving motorh2；
Compare Th1、Th2, and control the driving motor output Th1、Th2In smaller value to be applied to the vehicle of the electric car
Wheel.
15. the regenerative brake control device of electric car as claimed in claim 13, which is characterized in that when the electric car
Into after the feedback braking control model, second control module is specifically used for:
Corresponding feedback braking curve is selected according to the current shift of the electric car, and according to the current of the driving motor
Revolving speed obtains corresponding feedback torque T from selected feedback braking curvez1；
Corresponding brake pedal aperture-torque curve is selected according to the current shift of the electric car, and according to the braking
The current aperture of pedal obtains corresponding feedback torque T from selected brake pedal aperture-torque curvez2；
The maximum feedback function that the maximum feedback current and the driving motor currently allowed according to the power battery currently allows
Rate calculates the feedback torque limit T of the driving motorz3；
Compare Tz1、Tz2、Tz3, and control the driving motor output Tz1、Tz2、Tz3In minimum value to be applied to the electronic vapour
The wheel of vehicle.
16. the regenerative brake control device of electric car as claimed in claim 11, which is characterized in that the first control mould
Block is also used to when the electric car meets at least one following condition, is controlled the electric car and is exited feedback control mould
Formula:
The current rotating speed of the driving motor is less than or equal to first preset rotation speed；
The anti-blocking brake system ABS of the electric car is in running order；
The aperture of the gas pedal is greater than 0；
The current shift of the electric car is in non-D gear.
17. the regenerative brake control device of the electric car as described in right will go 10, which is characterized in that the brake pedal packet
Include air-pressure brake pedal and hydraulic braking pedal, wherein
When the brake pedal is air-pressure brake pedal, stretched by the mandril nut adjustment mandril on the brake pedal mandril
Enter the length in foot brake valves, to realize the adjusting to the mechanical idle stroke percentage of the brake pedal.
18. a kind of electric car, which is characterized in that the regeneration system including electric car described in any one of claim 9-17
Dynamic control device.
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